Drift-Free Real-Time Sequential Mosaicing

摘要

We present a sequential mosaicing algorithm for a calibrated rotating camera which can for the first time build drift-free, consistent spherical mosaics in real-time, automatically and seamlessly even when previously viewed parts of the scene are re-visited. Our mosaic is composed of elastic triangular tiles attached to a backbone map of feature directions over the unit sphere built using a sequential EKF SLAM (Extend Kalman Filter Simultaneous Localization And Mapping) approach.